The following publications touch on CSbots, the CREATE lab research program that resulted in the Finch.  They are arranged in reverse chronological order:

Tom Lauwers, Aligning Capabilities of Interactive Educational Tools to Learner Goals, Ph.D Thesis, Carnegie Mellon, April 2010.  (Chapter 6 covers the Finch research program in detail)

Tom Lauwers, Designing the Finch: Creating a Robot Aligned to Computer Science Concepts, Proceedings of the First Symposium on Educational Applications of AI, July 2010.

Tom Lauwers, Emily Hamner, and Illah Nourbakhsh, A strategy for collaborative outreach: lessons from the CSbots project, SIGCSE Proceedings, pg 315-319, March 2010.

Tom Lauwers, Illah Nourbakhsh, and Emily Hamner, CSbots: Design and Deployment of a Robot Designed for the CS1 Classroom, SIGCSE Proceedings, March 2009.

Tom Lauwers, Illah Nourbakhsh, and Emily Hamner, CSbots: A case study in introducing educational technology to a classroom setting, tech. report CMU-RI-TR-08-41, Robotics Institute, Carnegie Mellon University, October, 2008.